THREE-DIMENSIONAL OBJECT DETECTION DEVICE, AND THREE-DIMENSIONAL OBJECT DETECTION METHOD

摘要

A three-dimensional object detection device characterized by: detecting a three-dimensional object on the basis of a captured image; calculating the movement speed of the detected three-dimensional object as a first movement speed; detecting a light source at the rear of the host vehicle; calculating the movement speed of the three-dimensional object from the temporal changes in the light source as the second movement speed; calculating the relative movement speed of the three-dimensional object, in which the attachment of foreign substances on the lens is considered, as the estimated movement speed on the basis of the first movement speed and the second movement speed; calculating the relative movement distance of the three-dimensional object after the three-dimensional object was detected as the detected determination distance on the basis of the estimated movement speed; promoting the detection of the three-dimensional object at a first timing at which the three-dimensional object was detected; and inhibiting the detection of the three-dimensional object at a second timing at which the detected determination distance becomes equal to or greater than a predetermined reference distance after the first timing.